摘要：AbstractThis paper presents an adaptation scheme for the control of the heading in a ship. The proposed scheme consists on a series of linear controllers optimized for different values of the forward speed of the ship. As the ships accelerates from one speed level to the next, a different controller is selected to replace the previous one. Each individual controller consists of a two-degree of freedom optimal digital controller, with a feedback loop for disturbance rejection and a feedforward part for trajectory tracking. All are synthesized based on linear models using the theory of the Parametric Transfer Function. The adaptation scheme is then tested on a linear parameter-varying model, dependent on the ship’s speed, to observe its qualitative behavior.
关键词：KeywordsGain SchedulingHeading TrackingParametric Transfer FunctionSampled-Data Systems
